CN109508028A - A kind of attitude of flight vehicle disturbance filtering method, apparatus and system - Google Patents

A kind of attitude of flight vehicle disturbance filtering method, apparatus and system Download PDF

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CN109508028A
CN109508028A CN201811623708.7A CN201811623708A CN109508028A CN 109508028 A CN109508028 A CN 109508028A CN 201811623708 A CN201811623708 A CN 201811623708A CN 109508028 A CN109508028 A CN 109508028A
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CN109508028B (en
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姬冰
李玉帅
孔留兵
杨志康
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Shandong University
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    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

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Abstract

本发明公开了一种扑翼运动引起的飞行器姿态扰动滤除方法、装置及系统,动作捕捉系统采集扑翼飞行器运动信号,飞行器控制系统采集姿态信号,上位机分别进行信号特征分析得到对应的频谱图,确定飞行器扑翼运动为姿态扰动来源;动作捕捉系统采集扑翼飞行器在油门信号逐渐增加时对应的运动信号,上位机对其进行信号特征分析,进行油门与扑翼频率的拟合;上位机根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波器滤除高频干扰信号;上位机对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波滤除扑翼飞行器的扰动信号。

The invention discloses a method, a device and a system for filtering attitude disturbance of an aircraft caused by flapping motion. A motion capture system collects motion signals of a flapping aircraft, an aircraft control system collects attitude signals, and a host computer respectively analyzes signal characteristics to obtain corresponding frequency spectrums. Figure, determine the aircraft flapping motion as the source of attitude disturbance; the motion capture system collects the motion signal corresponding to the flapping aircraft when the throttle signal gradually increases, and the upper computer analyzes the signal characteristics of it, and performs the throttle and flapping frequency fitting; According to the fitting relationship between the throttle and the flapping frequency, the aircraft obtains the flapping frequency corresponding to the maximum throttle signal, and uses it as the frequency threshold to perform a low-pass filter to filter out high-frequency interference signals; The frequency spectrum is analyzed by filtering the signal, and according to the amplitude threshold, the main frequency is screened out as the frequency of the disturbance signal, and the band-stop filter is performed to filter out the disturbance signal of the flapping-wing aircraft.

Description

一种飞行器姿态扰动滤除方法、装置及系统A method, device and system for filtering attitude disturbance of aircraft

技术领域technical field

本发明属于飞行器控制的技术领域,涉及一种飞行器姿态扰动滤除方法、装置及系统,尤其是涉及一种由扑翼运动引起的飞行器姿态扰动的滤除方法、装置及系统。The invention belongs to the technical field of aircraft control, and relates to a method, device and system for filtering attitude disturbance of an aircraft, in particular to a method, device and system for filtering attitude disturbance of an aircraft caused by flapping wing motion.

背景技术Background technique

小型无人飞行器由于其具有体积小、重量轻、便于携带、操作方便、机动灵活、起降空间小、噪音低、隐蔽性好等优点,从一开始出现就受到人们的广泛关注,其被公认为是具有广阔发展前景的高技术产品之一。按照升力产生和推进机理的不同,小型无人飞行器可分为:固定翼、旋翼及扑翼。固定翼和旋翼小型无人飞行器的飞行机理分别与传统的固定翼飞机和直升机相同,其研制工作尚有一定的理论知识和现场数据可以借鉴。扑翼仿生飞行器是模仿鸟类或昆虫飞行的新型飞行器,其飞行需要的升力和推力全由扑翼运动产生,飞行原理与前两者完全不同。Small unmanned aerial vehicles have attracted widespread attention from the very beginning because of their small size, light weight, easy portability, convenient operation, flexible maneuverability, small take-off and landing space, low noise, and good concealment. It is one of the high-tech products with broad development prospects. According to the different lift generation and propulsion mechanisms, small unmanned aerial vehicles can be divided into: fixed wing, rotor and flapping wing. The flight mechanism of fixed-wing and rotary-wing small unmanned aerial vehicles is the same as that of traditional fixed-wing aircraft and helicopters, respectively. There is still some theoretical knowledge and field data for their development work for reference. The flapping-wing bionic aircraft is a new type of aircraft that imitates the flight of birds or insects. The lift and thrust required for its flight are all generated by the flapping motion, and the flight principle is completely different from the previous two.

与常规飞机相比,小型无人飞行器的空气动力学特性有很大不同,其雷诺系数较低(雷诺系数表征空气惯性力和粘性力的比值,常规飞机的雷诺系数在106~108之间,小型无人飞行器在101~105之间)。在如此低的雷诺系数下,自然界中的飞行生物,如鸟类和昆虫,没有一种采用固定翼或旋翼方式飞行,均采用扑翼方式飞行。扑翼飞行器具有以下优势:扑翼飞行器拥有更强的机动性和灵活性,扑翼飞行只依靠翅膀的扑动与扭转就能实现体位和姿态的变化,而固定翼和旋翼飞行器需要多个动力源来合作完成;扑翼飞行在飞行过程中,可以通过滑翔的方式飞行,比起固定翼和旋翼飞行器节省了很多能量;同时扑翼飞行具有很高的能量转换效率,使用较少的能量就达到较远的飞行距离,对于执行远距离任务是很合适的;自然界的飞行生物不约而同都选择了扑翼飞行,这也从一定程度上表明,扑翼飞行更具有优势。Compared with conventional aircraft, the aerodynamic characteristics of small unmanned aerial vehicles are very different, and their Reynolds coefficient is relatively low (Reynolds coefficient represents the ratio of air inertial force and viscous force, and the Reynolds coefficient of conventional aircraft is between 10 6 and 10 8 ). between 10 1 and 10 5 of small unmanned aerial vehicles). Under such a low Reynolds coefficient, no flying creatures in nature, such as birds and insects, use fixed-wing or rotary-wing flight, but all use flapping wings to fly. The flapping-wing aircraft has the following advantages: the flapping-wing aircraft has stronger maneuverability and flexibility, and the flapping-wing flight only relies on the flapping and twisting of the wings to achieve changes in body position and attitude, while the fixed-wing and rotary-wing aircraft require multiple powers In the process of flight, flapping-wing flight can fly by gliding, which saves a lot of energy compared with fixed-wing and rotary-wing aircraft; at the same time, flapping-wing flight has high energy conversion efficiency, and uses less energy. Achieving a long flight distance is very suitable for performing long-distance tasks; flying creatures in nature all choose flapping flight, which also shows that flapping flight is more advantageous to a certain extent.

尽管国内外研究机构在扑翼飞行器研制上取得一系列成果,使得扑翼飞行器能够飞行,但扑翼飞行器稳定飞行仍是一个亟待解决的问题。扑翼飞行器的稳定飞行离不开精确的姿态控制。因此,精确测量飞行器姿态的变化,滤除姿态扰动对飞行器稳定飞行是极为重要的。在扑翼飞行器飞行期间,通过机翼的不断扑动,获得升力,从而能够克服重力实现飞行,但由于受到周期性惯性力作用,机翼的上下扑动运动会不可避免地引起飞行器在俯仰方向上有规律的上下运动,该运动会对飞行器的真实俯仰角造成较大的扰动,从而使其呈现周期性信号变化特征,同时还会耦合的带来其他姿态的扰动,影响飞行器控制系统对飞行器姿态的精确控制,使飞行器不能够稳定飞行。因此解决由扑翼运动引起的姿态扰动是很有必要的。Although domestic and foreign research institutions have made a series of achievements in the development of flapping-wing aircraft, which enable the flapping-wing aircraft to fly, the stable flight of the flapping-wing aircraft is still an urgent problem to be solved. The stable flight of the flapping-wing aircraft is inseparable from precise attitude control. Therefore, it is extremely important to accurately measure the change of the aircraft attitude and filter out the attitude disturbance for the stable flight of the aircraft. During the flight of a flapping-wing aircraft, lift is obtained by the continuous flapping of the wings, which can overcome gravity to achieve flight. However, due to the periodic inertial force, the up and down flapping motion of the wings will inevitably cause the aircraft to move in the pitch direction. The regular up and down movement will cause great disturbance to the true pitch angle of the aircraft, so that it presents the characteristics of periodic signal changes. Precise control makes the aircraft unable to fly stably. Therefore, it is necessary to solve the attitude disturbance caused by the flapping motion.

综上所述,针对现有技术中如何解决由扑翼运动引起的姿态扰动的问题,尚缺乏有效的解决方案。To sum up, there is still no effective solution for how to solve the problem of attitude disturbance caused by flapping wing motion in the prior art.

发明内容SUMMARY OF THE INVENTION

针对现有技术中存在的不足,解决现有技术中由扑翼运动引起的姿态扰动的问题,本发明提供了一种扑翼运动引起的飞行器姿态扰动滤除方法、装置及系统,尤其是一种由扑翼运动引起的飞行器姿态扰动的滤除方法、装置及系统,能够精确捕捉扑翼飞行器扑翼运动对飞行器真实姿态角的扰动频率,并利用扰动频率跟随自适应滤波器有效实现滤除扑翼运动引起的飞行器姿态扰动,使得飞行器控制系统能够对飞行器姿态进行精确控制。Aiming at the deficiencies in the prior art and solving the problem of the attitude disturbance caused by the flapping motion in the prior art, the present invention provides a method, device and system for filtering the attitude disturbance of the aircraft caused by the flapping motion, especially a A method, device and system for filtering the attitude disturbance of an aircraft caused by flapping motion, which can accurately capture the disturbance frequency of the flapping motion of the flapping aircraft to the true attitude angle of the aircraft, and use the disturbance frequency to follow the adaptive filter to effectively realize the filtering The aircraft attitude disturbance caused by flapping motion enables the aircraft control system to precisely control the aircraft attitude.

本发明的第一目的是提供一种扑翼运动引起的飞行器姿态扰动滤除方法。The first object of the present invention is to provide a method for filtering out the attitude disturbance of an aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种扑翼运动引起的飞行器姿态扰动滤除方法,该方法具体步骤包括:A method for filtering out the attitude disturbance of an aircraft caused by flapping motion, the specific steps of the method include:

动作捕捉系统采集扑翼飞行器运动信号,飞行器控制系统中的传感器采集姿态信号,分别上传至对应上位机,上位机对运动信号和姿态信号分别进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;The motion capture system collects the motion signals of the flapping-wing aircraft, the sensors in the aircraft control system collect the attitude signals, and upload them to the corresponding host computer respectively. Determine the flapping motion of the aircraft as the source of attitude disturbance;

分级固定扑翼飞行器油门动作捕捉系统采集扑翼飞行器在油门信号逐渐增加时对应的运动信号上传上位机,上位机对其进行信号特征分析,并读取扑翼飞行器日志中的油门数据进行油门与扑翼频率的拟合;The throttle motion capture system of the graded fixed flapping aircraft collects the corresponding motion signals of the flapping aircraft when the throttle signal gradually increases and uploads it to the upper computer. Fitting of flapping frequencies;

上位机根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值设计模拟低通滤波器,变换为数字低通滤波器设置于飞行器控制系统中滤除扑翼飞行器的高频干扰信号;The upper computer obtains the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and flapping frequency, and uses it as the frequency threshold to design an analog low-pass filter, which is converted into a digital low-pass filter and set in the aircraft control system to filter out flapping flaps. High-frequency interference signals of wing aircraft;

上位机对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率设计模拟带阻滤波器,变换为数字带阻滤波器设置于飞行器控制系统中滤除扑翼飞行器的扰动信号。The host computer performs spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal. According to the amplitude threshold, the main frequency is screened out as the frequency of the disturbance signal. Filter out the disturbance signal of the flapping aircraft.

作为进一步的优选方案,在本方法中,飞行器控制系统将采集的姿态信号和油门信号以日志形式进行存储,上位机读取日志中的姿态信号和油门信号。As a further preferred solution, in this method, the aircraft control system stores the collected attitude signals and throttle signals in the form of logs, and the host computer reads the attitude signals and throttle signals in the logs.

作为进一步的优选方案,在本方法中,上位机对运动信号和姿态信号分别采用FFT变换进行信号特征分析得到对应的频谱图。As a further preferred solution, in this method, the upper computer uses FFT transformation to respectively analyze the signal characteristics of the motion signal and the attitude signal to obtain the corresponding spectrogram.

作为进一步的优选方案,在本方法中,通过双线性变换法将模拟低通滤波器变换为数字低通滤波器。As a further preferred solution, in this method, the analog low-pass filter is transformed into a digital low-pass filter by a bilinear transformation method.

作为进一步的优选方案,在本方法中,通过双线性变换法将模拟带阻滤波器变换为数字带阻滤波器。As a further preferred solution, in this method, the analog band-stop filter is transformed into a digital band-stop filter by a bilinear transformation method.

作为进一步的优选方案,在本方法中,筛选出主要频率的方法还包括:As a further preferred solution, in this method, the method for screening out the main frequencies also includes:

对滤除高频干扰信号后的低通滤波信号进行特定长度的采样,并采用层叠保留法进行补零,进行FFT变换,根据幅度阈值,筛选出主要频率。The low-pass filtered signal after filtering out the high-frequency interference signal is sampled with a specific length, and the layered retention method is used for zero-filling, FFT transformation is performed, and the main frequency is filtered out according to the amplitude threshold.

本发明的第二目的是提供一种扑翼运动引起的飞行器姿态扰动滤除系统。The second object of the present invention is to provide a system for filtering the attitude disturbance of the aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种扑翼运动引起的飞行器姿态扰动滤除系统,该系统包括:A system for filtering the attitude disturbance of an aircraft caused by flapping motion, the system comprising:

动作捕捉系统,用于采集扑翼飞行器运动信号,并上传上位机;The motion capture system is used to collect the motion signal of the flapping aircraft and upload it to the upper computer;

上位机,用于接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值设计模拟低通滤波器以滤除高频干扰信号;对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率设计模拟带阻滤波器以滤除扰动信号;The upper computer is used to receive the collected motion signals and attitude signals of the flapping aircraft, analyze the signal characteristics of them respectively to obtain the corresponding spectrograms, and determine the flapping motion of the aircraft as the source of attitude disturbance by comparing the spectrograms; receive the throttle signals and flapping wings. The motion signal of the aircraft when the throttle signal is gradually increased, the signal characteristics are analyzed, and the throttle and flapping frequencies are fitted; according to the fitting relationship between the throttle and the flapping frequency, the flapping frequency corresponding to the maximum throttle signal is obtained, Use it as a frequency threshold to design an analog low-pass filter to filter out high-frequency interference signals; perform spectrum analysis on the low-pass filtered signal after filtering out high-frequency interference signals, and filter out the main frequencies as the disturbance signal frequency design simulation according to the amplitude threshold Band-stop filter to filter out disturbance signals;

扑翼飞行器控制系统,其硬件部分主要包括控制器、传感器,软件部分主要包括数字低通滤波器和数字带阻滤波器等,用于控制扑翼飞行器飞行,所述传感器用于采集姿态信号并上传至上位机,所述数字低通滤波器根据上位机设计的模拟低通滤波器变换得到以滤除高频干扰信号;所述数字带阻滤波器根据上位机设计的模拟带阻滤波器变换得到以滤除扑翼飞行器的扰动信号。A flapping-wing aircraft control system, the hardware part mainly includes controllers and sensors, and the software part mainly includes digital low-pass filters and digital band-stop filters, etc., which are used to control the flight of the flapping-wing aircraft. The sensors are used to collect attitude signals and Uploaded to the host computer, the digital low-pass filter is transformed according to the analog low-pass filter designed by the host computer to filter out high-frequency interference signals; The digital band-stop filter is transformed according to the analog band-stop filter designed by the host computer. Obtained to filter out the disturbance signal of the flapping aircraft.

本发明的第三目的是提供一种扑翼运动引起的飞行器姿态扰动滤除方法。The third object of the present invention is to provide a method for filtering the attitude disturbance of the aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种扑翼运动引起的飞行器姿态扰动滤除方法,该方法在上位机中实现,具体步骤包括:A method for filtering out the attitude disturbance of an aircraft caused by flapping motion, the method is implemented in a host computer, and the specific steps include:

接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Receive the collected motion signal and attitude signal of the flapping-wing aircraft, analyze the signal characteristics of them respectively to obtain the corresponding spectrogram, and determine that the flapping-wing motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics, and perform the fitting of the throttle and flapping frequencies;

根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;According to the fitting relationship between the throttle and the flapping frequency, the flapping frequency corresponding to the maximum throttle signal is obtained, and it is used as the frequency threshold for low-pass filtering to filter out high-frequency interference signals;

对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal. According to the amplitude threshold, screen out the main frequency as the frequency of the disturbance signal and perform band-stop filtering to filter out the disturbance signal.

本发明的第四目的是提供一种计算机可读存储介质。A fourth object of the present invention is to provide a computer-readable storage medium.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种计算机可读存储介质,其中存储有多条指令,所述指令适于由终端设备的处理器加载并执行以下处理:A computer-readable storage medium in which a plurality of instructions are stored, and the instructions are adapted to be loaded by a processor of a terminal device and perform the following processes:

接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Receive the collected motion signal and attitude signal of the flapping-wing aircraft, analyze the signal characteristics of them respectively to obtain the corresponding spectrogram, and determine that the flapping-wing motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics, and perform the fitting of the throttle and flapping frequencies;

根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;According to the fitting relationship between the throttle and the flapping frequency, the flapping frequency corresponding to the maximum throttle signal is obtained, and it is used as the frequency threshold for low-pass filtering to filter out high-frequency interference signals;

对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal. According to the amplitude threshold, screen out the main frequency as the frequency of the disturbance signal and perform band-stop filtering to filter out the disturbance signal.

本发明的第五目的是提供一种终端设备。A fifth object of the present invention is to provide a terminal device.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种终端设备,包括处理器和计算机可读存储介质,处理器用于实现各指令;计算机可读存储介质用于存储多条指令,所述指令适于由处理器加载并执行以下处理:A terminal device includes a processor and a computer-readable storage medium, where the processor is used to implement various instructions; the computer-readable storage medium is used to store a plurality of instructions, the instructions are suitable for being loaded by the processor and performing the following processing:

接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Receive the collected motion signal and attitude signal of the flapping-wing aircraft, analyze the signal characteristics of them respectively to obtain the corresponding spectrogram, and determine that the flapping-wing motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics, and perform the fitting of the throttle and flapping frequencies;

根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;According to the fitting relationship between the throttle and the flapping frequency, the flapping frequency corresponding to the maximum throttle signal is obtained, and it is used as the frequency threshold for low-pass filtering to filter out high-frequency interference signals;

对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal. According to the amplitude threshold, screen out the main frequency as the frequency of the disturbance signal and perform band-stop filtering to filter out the disturbance signal.

本发明的有益效果:Beneficial effects of the present invention:

本发明所述的一种扑翼运动引起的飞行器姿态扰动滤除方法、装置及系统,,能够精确捕捉扑翼飞行器扑翼运动对飞行器真实姿态的扰动频率,并能够有效滤除姿态扰动信号,使得飞行器控制系统能够对飞行器姿态进行精确控制。The method, device and system for filtering the attitude disturbance of the aircraft caused by the flapping motion of the present invention can accurately capture the disturbance frequency of the aircraft's true attitude caused by the flapping motion of the flapping aircraft, and can effectively filter the attitude disturbance signal, The aircraft control system can precisely control the attitude of the aircraft.

附图说明Description of drawings

构成本申请的一部分的说明书附图用来提供对本申请的进一步理解,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application.

图1是本发明实施例1的扑翼运动引起的飞行器姿态扰动滤除方法流程图;Fig. 1 is the flow chart of the method for filtering out the attitude disturbance of the aircraft caused by the flapping motion of the embodiment 1 of the present invention;

图2为本发明实施例1的数字低通滤波方法流程图;2 is a flowchart of a digital low-pass filtering method according to Embodiment 1 of the present invention;

图3为本发明实施例1的扰动频率获取方法流程图;3 is a flowchart of a method for obtaining a disturbance frequency according to Embodiment 1 of the present invention;

图4为本发明实施例1的带阻滤波方法流程图;4 is a flowchart of a band-stop filtering method according to Embodiment 1 of the present invention;

图5为本发明实施例1的中机身扰动信号图及其频谱图;5 is a diagram of a mid-fuselage disturbance signal and a frequency spectrum thereof according to Embodiment 1 of the present invention;

图6为本发明实施例1的中飞控系统俯仰角采样信号图及其频谱图;6 is a diagram of a pitch angle sampling signal diagram of the mid-flight control system according to Embodiment 1 of the present invention and a spectrum diagram thereof;

图7为本发明实施例1的中飞控系统俯仰角采样信号低通滤波图及及其频谱图;7 is a low-pass filtering diagram of the pitch angle sampling signal of the mid-flight control system according to Embodiment 1 of the present invention and a spectrum diagram thereof;

图8为本发明实施例1的中飞控系统俯仰角低通滤波信号带阻滤波图及其频谱图;FIG. 8 is a band-stop filtering diagram and a spectrum diagram of the pitch angle low-pass filtering signal of the mid-flight control system according to Embodiment 1 of the present invention;

图9是本发明实施例2的扑翼运动引起的飞行器姿态扰动滤除方法流程图。FIG. 9 is a flowchart of a method for filtering out attitude disturbance of an aircraft caused by flapping motion according to Embodiment 2 of the present invention.

具体实施方式:Detailed ways:

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

应该指出,以下详细说明都是例示性的,旨在对本申请提供进一步的说明。除非另有指明,本实施例使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise specified, all technical and scientific terms used in the examples have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本申请的示例性实施方式。如在这里所使用的,除非上下文另外明确指出,否则单数形式也意图包括复数形式,此外,还应当理解的是,当在本说明书中使用术语“包含”和/或“包括”时,其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

需要注意的是,附图中的流程图和框图示出了根据本公开的各种实施例的方法和系统的可能实现的体系架构、功能和操作。应当注意,流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分,所述模块、程序段、或代码的一部分可以包括一个或多个用于实现各个实施例中所规定的逻辑功能的可执行指令。也应当注意,在有些作为备选的实现中,方框中所标注的功能也可以按照不同于附图中所标注的顺序发生。例如,两个接连地表示的方框实际上可以基本并行地执行,或者它们有时也可以按照相反的顺序执行,这取决于所涉及的功能。同样应当注意的是,流程图和/或框图中的每个方框、以及流程图和/或框图中的方框的组合,可以使用执行规定的功能或操作的专用的基于硬件的系统来实现,或者可以使用专用硬件与计算机指令的组合来实现。It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which may include one or more components used in implementing various embodiments Executable instructions for the specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented using dedicated hardware-based systems that perform the specified functions or operations , or can be implemented using a combination of dedicated hardware and computer instructions.

在不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合下面结合附图与实施例对本发明作进一步说明。In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be further described below with reference to the accompanying drawings and embodiments.

实施例1:Example 1:

本实施例1的目的是提供一种扑翼运动引起的飞行器姿态扰动滤除方法。The purpose of this embodiment 1 is to provide a method for filtering out the attitude disturbance of the aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

如图1所示,As shown in Figure 1,

一种扑翼运动引起的飞行器姿态扰动滤除方法,该方法具体步骤包括:A method for filtering out the attitude disturbance of an aircraft caused by flapping motion, the specific steps of the method include:

步骤(1):动作捕捉系统采集扑翼飞行器运动信号,飞行器控制系统中的传感器采集姿态信号,分别上传至对应的上位机,上位机对运动信号和姿态信号分别进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Step (1): the motion capture system collects the motion signal of the flapping aircraft, the sensor in the aircraft control system collects the attitude signal, and uploads it to the corresponding host computer respectively, and the host computer performs signal feature analysis on the motion signal and the attitude signal to obtain the corresponding frequency spectrum. Figure, by comparing the spectrogram, it is determined that the aircraft flapping motion is the source of attitude disturbance;

步骤(2):分级固定扑翼飞行器油门动作捕捉系统采集扑翼飞行器在油门信号逐渐增加时对应的运动信号上传上位机,上位机对其进行信号特征分析,并读取扑翼飞行器日志中的油门数据进行油门与扑翼频率的拟合;Step (2): The grading fixed flapper throttle motion capture system collects the motion signal corresponding to the flapper when the throttle signal gradually increases and uploads it to the upper computer. The throttle data is used to fit the throttle and flapping frequency;

步骤(3):上位机根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值设计模拟低通滤波器,变换为数字低通滤波器设置于飞行器控制系统中滤除扑翼飞行器的高频干扰信号;Step (3): The upper computer obtains the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and the flapping frequency, and uses it as the frequency threshold to design an analog low-pass filter, which is converted into a digital low-pass filter and set in the aircraft control. Filter out high-frequency interference signals of flapping-wing aircraft in the system;

步骤(4):上位机对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率设计模拟带阻滤波器,变换为数字带阻滤波器设置于飞行器控制系统中滤除扑翼飞行器的扰动信号。Step (4): the host computer performs spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal, and selects the main frequency as the disturbance signal frequency according to the amplitude threshold, designs an analog band-stop filter, and converts it into a digital band-stop filter. It is set in the aircraft control system to filter out the disturbance signal of the flapping aircraft.

步骤(1)扰动信号分析:Step (1) Disturbance signal analysis:

步骤(1-1):采集数据。将若干个反光球安装在扑翼飞行器机身以及翅膀两端,使扑翼飞行器进行扑翼运动,通过光学三维动作捕捉系统采集飞行器空间运动信号,通过对应上位机进行数据输出;将飞行器控制系统,例如嵌入式处理板,安装在扑翼飞行器上,跟随扑翼飞行器运动,通过板载IMU传感器获取外部运动信息并对姿态信号进行采样,其所测飞行器姿态信号以日志的形式存储在SD卡中,通过飞行器地面站即上位机读取日志中的数据。Step (1-1): Collect data. Install several reflective balls on the fuselage and both ends of the wings of the flapping-wing aircraft to make the flapping-wing aircraft perform flapping motion, collect the spatial motion signals of the aircraft through the optical three-dimensional motion capture system, and output data through the corresponding host computer; the aircraft control system , such as an embedded processing board, installed on the flapping aircraft, following the movement of the flapping aircraft, obtaining external motion information and sampling the attitude signal through the onboard IMU sensor, and the measured attitude signal of the aircraft is stored in the SD card in the form of logs , the data in the log is read by the ground station of the aircraft, that is, the upper computer.

在本实施例的步骤(1-1)中,飞行器控制系统将采集的姿态信号以日志形式进行存储,上位机读取日志中的姿态信号。In step (1-1) of this embodiment, the aircraft control system stores the collected attitude signal in the form of a log, and the upper computer reads the attitude signal in the log.

步骤(1-2):数据分析。上位机对运动信号和姿态信号分别进行信号特征分析,对两部分数据分别进行FFT变化,得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源。如图5所示为机身扰动信号图及其频谱图。如图6所示为飞控系统俯仰角采样信号图及其频谱图。Step (1-2): Data analysis. The host computer analyzes the signal characteristics of the motion signal and the attitude signal respectively, and performs FFT changes on the two parts of the data respectively to obtain the corresponding spectrogram. By comparing the spectrogram, it is determined that the aircraft flapping motion is the source of the attitude disturbance. Figure 5 shows the fuselage disturbance signal diagram and its frequency spectrum. Figure 6 shows the pitch angle sampling signal diagram of the flight control system and its frequency spectrum.

步骤(2)扑翼频率分析:Step (2) flapping frequency analysis:

步骤(2-1):采集数据。分级固定扑翼飞行器油门,同时通过光学三维动作捕捉系统捕捉扑翼飞行器在油门信号逐渐增加时对应的运动信号,通过飞行器地面站即上位机读取日志中所记录的油门数据并结合光学三维动作捕捉系统的飞行器运动信号进行分析。Step (2-1): Collect data. The throttle of the flapping aircraft is fixed in stages, and the motion signal of the flapping aircraft when the throttle signal is gradually increased is captured by the optical 3D motion capture system. Capture the aircraft motion signal of the system for analysis.

步骤(2-2):数据拟合。上位机对运动信号进行信号特征分析,进行FFT变化得到主频率,并读取扑翼飞行器日志中的油门数据,利用多项式拟合方法进行油门与扑翼频率的拟合;Step (2-2): data fitting. The upper computer analyzes the signal characteristics of the motion signal, performs the FFT change to obtain the main frequency, reads the throttle data in the log of the flapping aircraft, and uses the polynomial fitting method to fit the throttle and the flapping frequency;

在本实施例的步骤(2-2)中,飞行器控制系统将采集的油门信号以日志形式进行存储,上位机读取日志中的油门信号。In step (2-2) of this embodiment, the aircraft control system stores the collected throttle signal in the form of a log, and the upper computer reads the throttle signal in the log.

步骤(3)高频干扰信号滤除:在本实施例中利用模拟滤波器设计方法设计出归一化模拟低通滤波器,然后利用模拟滤波器转数字滤波器的双线性变换法(BLT)得到数字滤波器,最后利用数字低通滤波方法,求出差分方程,迭代求出滤波信号,从而滤除高频干扰信号。Step (3) high-frequency interference signal filtering: in the present embodiment, the analog filter design method is used to design a normalized analog low-pass filter, and then the bilinear transformation method (BLT) of the analog filter to digital filter is utilized. ) to obtain a digital filter, and finally use the digital low-pass filtering method to obtain the difference equation, and iteratively obtain the filtered signal, thereby filtering out the high-frequency interference signal.

步骤(3-1):设计模拟低通滤波器。上位机根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值设计模拟低通滤波器。Step (3-1): Design an analog low-pass filter. The upper computer obtains the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and the flapping frequency, and uses it as the frequency threshold to design an analog low-pass filter.

如图2所示,首先设计归一化模拟低通滤波器,即原型低通滤波器,指标如下:通带边界频率fpass、阻带边界频率fstop、通带波动Rp及阻带波动Rs,根据以上指标求出截止频率为fc及滤波器阶数Ln,求得归一化模拟低通滤波器系统函数;然后采用双线变换法(BLT)得到数字低通滤波器,并求出低通滤波器系统函数,进而求得差分方程;最后以Fs采样频率对飞行器的姿态角信号进行采样,采样序列长度为L,对采样信号进行低通滤波,则采样序列的低通滤波信号输出为:As shown in Figure 2, a normalized analog low-pass filter, that is, a prototype low-pass filter, is first designed. The indicators are as follows: pass-band boundary frequency f pass , stop-band boundary frequency f stop , pass-band fluctuation R p and stop-band fluctuation R s , according to the above indexes, the cut-off frequency is f c and the filter order L n is obtained, and the normalized analog low-pass filter system function is obtained; And the low-pass filter system function is obtained, and then the difference equation is obtained; finally, the attitude angle signal of the aircraft is sampled at the sampling frequency of F s , the sampling sequence length is L, and the sampling signal is low-pass filtered. The pass filtered signal output is:

即,which is,

其中,x(n)序列为滤波前的信号序列,ak和bm为低通滤波器系统函数分母与分子的系统数组,N和M分别表示系统函数分母与分子的系统数组的长度,y(n)即为滤波后的信号序列,且,x(n)和y(n)序列相等,a0=1,当k<0时,x(k)和y(k)都为0。经过迭代,可求出y(n)序列的所有值。Among them, the x(n) sequence is the signal sequence before filtering, a k and b m are the systematic arrays of the denominator and numerator of the low-pass filter system function, N and M are the length of the systematic array of the denominator and numerator of the system function, respectively, y (n) is the filtered signal sequence, and the x(n) and y(n) sequences are equal, a 0 =1, when k<0, both x(k) and y(k) are 0. After iteration, all values of the y(n) sequence can be found.

如图7所示为飞控系统俯仰角采样信号低通滤波图及及其频谱图。Figure 7 shows the low-pass filtering diagram of the pitch angle sampling signal of the flight control system and its frequency spectrum.

步骤(3-2):在飞行器控制系统上实现高频干扰信号滤除。通过双线性变换法(BLT)方法,将上述模拟滤波器变换到数字低通滤波器。这一步是在飞行器控制系统上实现。Step (3-2): implement high-frequency interference signal filtering on the aircraft control system. The above-mentioned analog filter is transformed into a digital low-pass filter by the Bilinear Transform (BLT) method. This step is implemented on the aircraft control system.

步骤(4)扰动信号滤除:Step (4) Disturbance signal filtering:

步骤(4-1):上位机对滤除高频干扰信号后的低通滤波信号进行频谱分析,进行FFT变换,在FFT变换时保证扰动频率捕获精度以及信号处理低延迟根据幅度阈值,筛选出主要频率,即扰动频率获取;Step (4-1): The host computer performs spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal, and performs FFT transformation. During the FFT transformation, the disturbance frequency capture accuracy and signal processing low delay are ensured. According to the amplitude threshold, filter out The main frequency, namely the disturbance frequency acquisition;

如图3所示,筛选出主要频率的方法,即扰动频率获取还包括:As shown in Figure 3, the method of screening out the main frequencies, that is, the acquisition of the disturbance frequency, also includes:

对滤除高频干扰信号后的低通滤波信号进行特定长度的采样,为了解决延迟问题,采用层叠保留法进行补零,同样满足分辨率的要求,进行FFT变换,根据幅度阈值,筛选出主要频率。The low-pass filtered signal after filtering out the high-frequency interference signal is sampled with a specific length. In order to solve the delay problem, the layered retention method is used for zero-filling, which also meets the requirements of resolution, and FFT transformation is performed. frequency.

在本实施例中,使用层叠保留法解决数据延迟问题,同时可使用频域分析方法包括离散Hartley变换(DHT)、离散W变换(DWT)及DFT等方法,继而本应用例中采用离散傅里叶变换的快速算法快速傅里叶变换(FFT)对信号频率特征进行分析。但以上方法仅是本方法的一部分应用例,而非全部应用例。In this embodiment, the layered retention method is used to solve the data delay problem, and at the same time, frequency domain analysis methods including discrete Hartley transform (DHT), discrete W transform (DWT), and DFT can be used, and then discrete Fourier transform is used in this application example. The Fast Algorithm of Leaf Transform The Fast Fourier Transform (FFT) analyzes the frequency characteristics of the signal. However, the above methods are only some application examples of this method, but not all application examples.

首先针对(2)式,将其划分为长度为L的第j分块数据yj(n),并对分块数据进行L点的FFT变换,将其变换到频域,则L点的yj(n)信号变换可以写为:First, for formula (2), divide it into the jth block data y j (n) of length L, and perform FFT transformation of L point on the block data, and transform it into the frequency domain, then the y point of L point The j (n) signal transformation can be written as:

其中,与yj(n)无关,i和n分别表示矩阵的行列标号;Yj(i)表示yj(n)序列在频域下的变换值,是一个L点的复数序列,且每一点对应一个频率点,根据FFT变换的中心对称性,有L/2+1个点有用信息,重复信息通常不显示在信号频谱中;然后针对(3)式变换结果,求出每个频率点Fn所对应的幅度特性An;最后根据信号特征设定幅度阈值Ac,筛选出扰动频率Fcin, but Independent of y j (n), i and n represent matrices, respectively The row and column labels of ; Y j (i) represents the transformed value of the y j (n) sequence in the frequency domain, which is a complex sequence of L points, and each point corresponds to a frequency point. According to the center symmetry of the FFT transformation, there are L /2+1 points of useful information, repeated information is usually not displayed in the signal spectrum; then for the transformation result of formula (3), obtain the amplitude characteristic A n corresponding to each frequency point F n ; finally set according to the signal characteristics Amplitude threshold A c , filter out disturbance frequency F c :

Fn=(i-1)Fs/L,1≤i<L/2+1 (4)F n =(i-1)F s /L,1≤i<L/2+1 (4)

An=|Y(i)|,1≤i<L/2+1 (5)A n =|Y(i)|,1≤i<L/2+1 (5)

当i=1时,即0hz,第一个点表示直流分量When i=1, i.e. 0hz, the first point represents the DC component

当i≠1时,取When i≠1, take

Fc={Fn|An>Ac,1≤n<L/2+1} (6)F c ={F n |A n >A c ,1≤n<L/2+1} (6)

从而求出分块数据内的扰动频率。Thereby, the disturbance frequency in the block data is obtained.

但每次采集长度为L的序列yj(n)进行L点的FFT变换,会产生L-1点的延迟,这样对实时性要求很高的飞行器控制系统是不允许的,因此本单元应用例采用重叠保留法对数据进行采集。假设每次计算更新数据的个数为LNew,则每次参与FFT变换的L点分块数据为L-LNew个前一分块数据的尾部数据和LNew个新采样数据,则:However, each time a sequence y j (n) of length L is acquired to perform FFT transformation of point L, a delay of point L-1 will be generated, which is not allowed for the aircraft control system with high real-time requirements. Therefore, this unit applies For example, the data was collected using the overlap retention method. Assuming that the number of updated data in each calculation is L New , the L point block data participating in the FFT transformation each time is the tail data of LL New previous block data and L New new sampling data, then:

当j=0时when j=0

当j=1,2,3...When j=1,2,3...

在本实施例中,首先利用模拟滤波器设计方法设计出归一化模拟带阻滤波器,然后利用模拟滤波器转数字滤波器的双线性变换法(BLT)进行模拟滤波器的转换,最后利用数字带阻滤波方法,求出差分方程,迭代求出滤波信号,从而滤除扰动信号。In this embodiment, a normalized analog band-stop filter is first designed by using an analog filter design method, and then the analog filter is converted by a bilinear transformation (BLT) method of converting an analog filter to a digital filter, and finally the analog filter is converted. Using the digital band-stop filtering method, the difference equation is obtained, and the filtered signal is iteratively obtained to filter out the disturbance signal.

步骤(4-2):设计模拟带阻滤波器。将筛选出的主要频率作为扰动信号频率设计模拟带阻滤波器,变换为数字带阻滤波器设置于飞行器控制系统中滤除扑翼飞行器的扰动信号。Step (4-2): Design an analog bandstop filter. An analog band-stop filter is designed by taking the selected main frequency as the frequency of the disturbance signal, which is converted into a digital band-stop filter and set in the aircraft control system to filter out the disturbance signal of the flapping-wing aircraft.

在本实施例中,扰动信号实时滤除,低延迟情况下,跟随扰动信号频率,确定相应滤波器指标,利用数字滤波方法,设计带阻滤波器以滤除扰动信号。In this embodiment, the disturbance signal is filtered in real time. In the case of low delay, the frequency of the disturbance signal is followed to determine the corresponding filter index, and a band-stop filter is designed to filter out the disturbance signal by using the digital filtering method.

如图4所示,首先,根据式(6)得出的扰动频率,设计带阻滤波器通带上、下限频率fpU、fpL,阻带上下限频率fsU、fsL,通带波动为Rpband,阻带波动Rsband,然后根据以上指标,求出阻带的上下限截止频率fcU、fcL以及带阻滤波器的阶数LN,进而求出归一化模拟带阻滤波器系统函数,然后采用双线性变换法求得数字带阻滤波器,并求出数字带阻滤波器系统函数,进而求出滤波差分方程,采用(1)式与(2)式的方法迭代求出最终的滤波信号。如图8所示为飞控系统俯仰角低通滤波信号带阻滤波图及其频谱图。As shown in Figure 4, first, according to the perturbation frequency obtained by equation (6), design the upper and lower limit frequencies f pU and f pL of the band-stop filter, the upper and lower limit frequencies of the stop band f sU , f sL , and the fluctuation of the pass band is R pband , the stop band fluctuation R sband , and then according to the above indicators, the upper and lower cut-off frequencies f cU , f cL of the stop band and the order L N of the band stop filter are obtained, and then the normalized analog band stop filter is obtained. Then the digital band-stop filter is obtained by the bilinear transformation method, and the system function of the digital band-stop filter is obtained, and then the filtering difference equation is obtained. The method of (1) and (2) is used to iterate Find the final filtered signal. Figure 8 shows the band-stop filter diagram and its spectrum diagram of the pitch angle low-pass filter signal of the flight control system.

步骤(4-3):在飞行器控制系统上实现扰动信号滤除。通过双线性变换法(BLT)方法,将上述模拟带阻滤波器变换到数字带阻滤波器。这一步是在飞行器控制系统上实现。保证飞行器能够按照期望姿态角进行稳定飞行,从而避免因较大姿态扰动使飞行器出现意外情况。Step (4-3): implement disturbance signal filtering on the aircraft control system. The above-mentioned analog band-stop filter is transformed into a digital band-stop filter by the Bilinear Transform (BLT) method. This step is implemented on the aircraft control system. Ensure that the aircraft can fly stably according to the desired attitude angle, so as to avoid unexpected situations of the aircraft due to large attitude disturbances.

本实施例的目的还包括提供一种扑翼运动引起的飞行器姿态扰动滤除系统。The purpose of this embodiment also includes providing a system for filtering the attitude disturbance of the aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种扑翼运动引起的飞行器姿态扰动滤除系统,该系统包括:A system for filtering the attitude disturbance of an aircraft caused by flapping motion, the system comprising:

动作捕捉系统,用于采集扑翼飞行器运动信号,并上传上位机;The motion capture system is used to collect the motion signal of the flapping aircraft and upload it to the upper computer;

上位机,用于接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值设计模拟低通滤波器以滤除高频干扰信号;对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率设计模拟带阻滤波器以滤除扰动信号;The upper computer is used to receive the collected motion signals and attitude signals of the flapping aircraft, analyze the signal characteristics of them respectively to obtain the corresponding spectrograms, and determine the flapping motion of the aircraft as the source of attitude disturbance by comparing the spectrograms; receive the throttle signals and flapping wings. The motion signal of the aircraft when the throttle signal is gradually increased, the signal characteristics are analyzed, and the throttle and flapping frequencies are fitted; according to the fitting relationship between the throttle and the flapping frequency, the flapping frequency corresponding to the maximum throttle signal is obtained, Use it as a frequency threshold to design an analog low-pass filter to filter out high-frequency interference signals; perform spectrum analysis on the low-pass filtered signal after filtering out high-frequency interference signals, and filter out the main frequencies as the disturbance signal frequency design simulation according to the amplitude threshold Band-stop filter to filter out disturbance signals;

扑翼飞行器控制系统,安装在扑翼飞行器靠近机头位置,包括控制器,所述控制器分别与传感器、数字低通滤波器和数字带阻滤波器连接用于控制扑翼飞行器飞行,所述传感器用于采集姿态信号并上传至上位机,所述数字低通滤波器根据上位机设计的模拟低通滤波器变换得到以滤除高频干扰信号;所述数字带阻滤波器根据上位机设计的模拟带阻滤波器变换得到以滤除扑翼飞行器的扰动信号。A flapping aircraft control system, installed at a position close to the nose of the flapping aircraft, includes a controller, the controller is respectively connected with a sensor, a digital low-pass filter and a digital band-stop filter for controlling the flight of the flapping aircraft, the The sensor is used to collect the attitude signal and upload it to the host computer. The digital low-pass filter is transformed according to the analog low-pass filter designed by the host computer to filter out high-frequency interference signals; the digital band-stop filter is designed according to the host computer. The analog band-stop filter transformation is obtained to filter out the perturbation signal of the flapping-wing aircraft.

实施例2:Example 2:

本实施例2的目的是提供一种扑翼运动引起的飞行器姿态扰动滤除方法。The purpose of this embodiment 2 is to provide a method for filtering out the attitude disturbance of the aircraft caused by flapping motion.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

如图9所示,As shown in Figure 9,

一种扑翼运动引起的飞行器姿态扰动滤除方法,该方法在上位机中实现,具体步骤包括:A method for filtering out the attitude disturbance of an aircraft caused by flapping motion, the method is implemented in a host computer, and the specific steps include:

步骤(1):接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Step (1): Receive the collected flapping aircraft motion signal and attitude signal, respectively carry out signal characteristic analysis on it to obtain a corresponding spectrogram, and determine that the flapping motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

步骤(2):接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Step (2): receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics thereof, and perform the fitting of the throttle and the flapping frequency;

步骤(3):根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;Step (3): obtain the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and the flapping frequency, and use it as a frequency threshold to carry out low-pass filtering to filter out high-frequency interference signals;

步骤(4):对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Step (4): Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal, and filter out the main frequency as the frequency of the disturbance signal according to the amplitude threshold, and perform band-stop filtering to filter out the disturbance signal.

本实施例2的目的还包括提供一种计算机可读存储介质。The purpose of this embodiment 2 also includes providing a computer-readable storage medium.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种计算机可读存储介质,其中存储有多条指令,所述指令适于由终端设备的处理器加载并执行以下处理:A computer-readable storage medium in which a plurality of instructions are stored, and the instructions are adapted to be loaded by a processor of a terminal device and perform the following processes:

步骤(1):接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Step (1): Receive the collected flapping aircraft motion signal and attitude signal, respectively carry out signal characteristic analysis on it to obtain a corresponding spectrogram, and determine that the flapping motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

步骤(2):接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Step (2): receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics thereof, and perform the fitting of the throttle and the flapping frequency;

步骤(3):根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;Step (3): obtain the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and the flapping frequency, and use it as a frequency threshold to carry out low-pass filtering to filter out high-frequency interference signals;

步骤(4):对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Step (4): Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal, and filter out the main frequency as the frequency of the disturbance signal according to the amplitude threshold, and perform band-stop filtering to filter out the disturbance signal.

本实施例2的目的还包括提供一种终端设备。The purpose of this embodiment 2 also includes providing a terminal device.

为了实现上述目的,本发明采用如下一种技术方案:In order to achieve the above object, the present invention adopts the following technical scheme:

一种终端设备,包括处理器和计算机可读存储介质,处理器用于实现各指令;计算机可读存储介质用于存储多条指令,所述指令适于由处理器加载并执行以下处理:A terminal device includes a processor and a computer-readable storage medium, where the processor is used to implement various instructions; the computer-readable storage medium is used to store a plurality of instructions, the instructions are suitable for being loaded by the processor and performing the following processing:

步骤(1):接收采集的扑翼飞行器运动信号和姿态信号,分别对其进行信号特征分析得到对应的频谱图,通过对比频谱图确定飞行器扑翼运动为姿态扰动来源;Step (1): Receive the collected flapping aircraft motion signal and attitude signal, respectively carry out signal characteristic analysis on it to obtain a corresponding spectrogram, and determine that the flapping motion of the aircraft is the source of attitude disturbance by comparing the spectrograms;

步骤(2):接收油门信号和扑翼飞行器在油门信号逐渐增加时对应的运动信号,对其进行信号特征分析,并进行油门与扑翼频率的拟合;Step (2): receive the throttle signal and the corresponding motion signal of the flapping aircraft when the throttle signal gradually increases, analyze the signal characteristics thereof, and perform the fitting of the throttle and the flapping frequency;

步骤(3):根据油门与扑翼频率的拟合关系得到最大油门信号对应的扑翼频率,将其作为频率阈值进行低通滤波以滤除高频干扰信号;Step (3): obtain the flapping frequency corresponding to the maximum throttle signal according to the fitting relationship between the throttle and the flapping frequency, and use it as a frequency threshold to carry out low-pass filtering to filter out high-frequency interference signals;

步骤(4):对滤除高频干扰信号后的低通滤波信号进行频谱分析,根据幅度阈值,筛选出主要频率作为扰动信号频率进行带阻滤波以滤除扰动信号。Step (4): Perform spectrum analysis on the low-pass filtered signal after filtering out the high-frequency interference signal, and filter out the main frequency as the frequency of the disturbance signal according to the amplitude threshold, and perform band-stop filtering to filter out the disturbance signal.

这些计算机可执行指令在设备中运行时使得该设备执行根据本公开中的各个实施例所描述的方法或过程。These computer-executable instructions, when executed in a device, cause the device to perform the methods or processes described in accordance with various embodiments in this disclosure.

在本实施例中,计算机程序产品可以包括计算机可读存储介质,其上载有用于执行本公开的各个方面的计算机可读程序指令。计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括:便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身,诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如,通过光纤电缆的光脉冲)、或者通过电线传输的电信号。In this embodiment, the computer program product may comprise a computer-readable storage medium having computer-readable program instructions loaded thereon for carrying out various aspects of the present disclosure. A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

本文所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备,或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令,并转发该计算机可读程序指令,以供存储在各个计算/处理设备中的计算机可读存储介质中。The computer readable program instructions described herein can be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network, eg, the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

用于执行本公开内容操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码,所述编程语言包括面向对象的编程语言—诸如C++等,以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中,远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机,或者,可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中,通过利用计算机可读程序指令的状态信息来个性化定制电子电路,例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA),该电子电路可以执行计算机可读程序指令,从而实现本公开内容的各个方面。Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or in one or more programming languages Source or object code written in any combination of programming languages, including object-oriented programming languages, such as C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of the present disclosure.

应当注意,尽管在上文的详细描述中提及了设备的若干模块或子模块,但是这种划分仅仅是示例性而非强制性的。实际上,根据本公开的实施例,上文描述的两个或更多模块的特征和功能可以在一个模块中具体化。反之,上文描述的一个模块的特征和功能可以进一步划分为由多个模块来具体化。It should be noted that although several modules or sub-modules of the apparatus are mentioned in the detailed description above, this division is merely exemplary and not mandatory. Indeed, in accordance with embodiments of the present disclosure, the features and functions of two or more modules described above may be embodied in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules to be embodied.

以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。因此,本发明将不会被限制于本文所示的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for filtering out aircraft attitude disturbance caused by flapping wing motion is characterized by comprising the following specific steps:
the motion capture system collects a motion signal of the flapping wing aircraft, a sensor in the aircraft control system collects an attitude signal, the attitude signal is uploaded to an upper computer respectively, the upper computer carries out signal characteristic analysis on the motion signal and the attitude signal respectively to obtain corresponding frequency spectrograms, and the flapping wing motion of the aircraft is determined to be an attitude disturbance source by comparing the frequency spectrograms;
the step-by-step fixed flapping wing aircraft throttle motion capture system acquires corresponding motion signals of the flapping wing aircraft when throttle signals are gradually increased and uploads the motion signals to the upper computer, the upper computer analyzes the signal characteristics of the motion signals, and reads throttle data in a log of the flapping wing aircraft to fit the frequency of a throttle and a flapping wing;
the upper computer obtains the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and the flapping wing frequency is used as a frequency threshold value to design an analog low-pass filter, is converted into a digital low-pass filter and is arranged in an aircraft control system to filter high-frequency interference signals of the flapping wing aircraft;
and the upper computer performs spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, screens out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value, designs an analog band elimination filter, and converts the main frequency into a digital band elimination filter which is arranged in an aircraft control system to filter the disturbance signal of the flapping-wing aircraft.
2. A method according to claim 1, wherein in the method the aircraft control system stores the collected attitude signals and throttle signals in a log and the upper computer reads the attitude signals and throttle signals in the log.
3. The method of claim 1, wherein in the method, the upper computer performs signal characteristic analysis on the motion signal and the attitude signal respectively by using FFT to obtain corresponding spectrograms.
4. A method as claimed in claim 1, characterized in that in the method the analog low-pass filter is converted into a digital low-pass filter by means of a bilinear transformation.
5. A method according to claim 1, characterized in that in the method the analog band stop filter is converted into a digital band stop filter by a bilinear conversion method.
6. The method of claim 1, wherein in the method, the method of screening for dominant frequencies further comprises:
sampling the low-pass filtering signal after filtering the high-frequency interference signal by a specific length, carrying out zero filling by adopting a laminated retention method, carrying out FFT (fast Fourier transform) conversion, and screening out the main frequency according to an amplitude threshold value.
7. An attitude disturbance filtering system for an aircraft caused by flapping motion, the system being based on the method of any one of claims 1-6, comprising:
the motion capture system is used for acquiring motion signals of the flapping wing aircraft and uploading the motion signals to the upper computer;
the upper computer is used for receiving the collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding frequency spectrograms, and determining that the flapping wing motion of the aircraft is an attitude disturbance source by comparing the frequency spectrograms; receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing; obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and designing an analog low-pass filter by using the flapping wing frequency as a frequency threshold value to filter out high-frequency interference signals; performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out a main frequency as a disturbing signal frequency according to an amplitude threshold value to design an analog band elimination filter to filter the disturbing signal;
the flapping wing aircraft control system comprises a controller, wherein the controller is respectively connected with a sensor, a digital low-pass filter and a digital band elimination filter and is used for controlling the flapping wing aircraft to fly, the sensor is used for acquiring attitude signals and uploading the attitude signals to an upper computer, and the digital low-pass filter is converted according to an analog low-pass filter designed by the upper computer to filter high-frequency interference signals; the digital band elimination filter is obtained by converting an analog band elimination filter designed by an upper computer so as to filter disturbance signals of the flapping wing air vehicle.
8. A method for filtering out aircraft attitude disturbance caused by flapping wing motion is realized in an upper computer and is characterized by comprising the following specific steps:
receiving collected flapping wing aircraft motion signals and attitude signals, respectively carrying out signal characteristic analysis on the signals to obtain corresponding spectrograms, and determining that the aircraft flapping wing motion is an attitude disturbance source by comparing the spectrograms;
receiving an accelerator signal and a corresponding motion signal of the flapping wing aircraft when the accelerator signal is gradually increased, carrying out signal characteristic analysis on the signals, and fitting the frequency of the accelerator and the frequency of the flapping wing;
obtaining the flapping wing frequency corresponding to the maximum throttle signal according to the fitting relation between the throttle and the flapping wing frequency, and performing low-pass filtering by taking the flapping wing frequency as a frequency threshold value to filter out a high-frequency interference signal;
and performing spectrum analysis on the low-pass filtering signal after the high-frequency interference signal is filtered, and screening out the main frequency as the frequency of the disturbance signal according to an amplitude threshold value to perform band elimination filtering so as to filter the disturbance signal.
9. A computer-readable storage medium having stored thereon a plurality of instructions, characterized in that said instructions are adapted to be loaded by a processor of a terminal device and to perform the method according to claim 8.
10. A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer-readable storage medium storing a plurality of instructions for performing the method of claim 8.
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